\hypertarget{class_zebulon_1_1_underwater_1_1_global_info}{
\section{Zebulon::Underwater::GlobalInfo Class Reference}
\label{class_zebulon_1_1_underwater_1_1_global_info}\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
}


Interface class for getting information from \hyperlink{class_zebulon_1_1_underwater_1_1_global_pose_sensor}{GlobalPoseSensor}.  


{\ttfamily \#include $<$globalinfo.h$>$}\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a821472591bda5f4499ea19f2bd3fb75f}{
\hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a821472591bda5f4499ea19f2bd3fb75f}{GlobalInfo} ()}
\label{class_zebulon_1_1_underwater_1_1_global_info_a821472591bda5f4499ea19f2bd3fb75f}

\begin{DoxyCompactList}\small\item\em Constructor, initializes default values. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a65bf53fdb898f261b41ea3d448c38a9c}{
\hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a65bf53fdb898f261b41ea3d448c38a9c}{$\sim$GlobalInfo} ()}
\label{class_zebulon_1_1_underwater_1_1_global_info_a65bf53fdb898f261b41ea3d448c38a9c}

\begin{DoxyCompactList}\small\item\em Destructor. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a636df9bd319cc0bfe104ea926e7feba0}{ProcessDiscoveryEvent} (const Jaus::Platform \&subsystem, const Jaus::SubscriberComponent::DiscoveryEvents eventType)
\begin{DoxyCompactList}\small\item\em Initializes event and gets information from GlobalPose, in this case just Compass data. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a553ea5a0c51e97bc519094e03a006c97}{ProcessInformMessage} (const Jaus::Message $\ast$msg)
\begin{DoxyCompactList}\small\item\em Processes inform messages. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a241186b76424a7d54d999548a91f488d}{CreateEventSubscriptions} ()
\begin{DoxyCompactList}\small\item\em Initializes event and gets information from other sensors on the vehicle. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a3f2e23fb2be079401d02cbbbf3cabffa}{GetOrientation} (CxUtils::Point3D \&orientation) const 
\begin{DoxyCompactList}\small\item\em Sets position compass angles in radians. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_acd2fd681dd9d211edf0339d2d858d178}{GetDownwardFrame} (IplImage $\ast$\&frame) const 
\begin{DoxyCompactList}\small\item\em Gets a frame from the Downward Camera. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_ae0ea3dbacd10696b62e41bdf8be59bc6}{GetDownwardFrame} (\hyperlink{class_cv_image_capture_1_1_image}{CvImageCapture::Image} $\ast$\&frame) const 
\begin{DoxyCompactList}\small\item\em Gets a frame from the Downward Camera. \item\end{DoxyCompactList}\item 
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_aab74e321784986b4d695913c11cabaa7}{SetDownwardFrame} (const IplImage $\ast$frame, const int good=1)
\begin{DoxyCompactList}\small\item\em Sets the most recent frame from the Downward Camera. \item\end{DoxyCompactList}\item 
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a9d9ab2874c0c89b59f42da2409dda74d}{SetDownwardFrame} (const Jaus::Image $\ast$frame, const int good=1)
\begin{DoxyCompactList}\small\item\em Sets the most recent frame from the Downward Camera. \item\end{DoxyCompactList}\item 
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_ae7dad99111e0820e434a14d0d52eab11}{SetDownwardFrame} (const \hyperlink{class_cv_image_capture_1_1_image}{CvImageCapture::Image} \&frame, const int good=1)
\begin{DoxyCompactList}\small\item\em Sets the most recent frame from the Downward Camera. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_add53ad6ad29a9fc3ed3534f5f6c953f7}{GetForwardFrame} (IplImage $\ast$\&frame) const 
\begin{DoxyCompactList}\small\item\em Gets a frame from the Forward Camera. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_aefeee8e4d4e07a3b094f3a45fb680061}{GetForwardFrame} (\hyperlink{class_cv_image_capture_1_1_image}{CvImageCapture::Image} $\ast$\&frame) const 
\begin{DoxyCompactList}\small\item\em Gets a frame from the Downward Camera. \item\end{DoxyCompactList}\item 
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_abf48dd5f8a5cf0b1d094a888d58a297d}{SetForwardFrame} (const IplImage $\ast$frame, const int good=1)
\begin{DoxyCompactList}\small\item\em Sets the most recent frame from the Forward Camera. \item\end{DoxyCompactList}\item 
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a694c6764bdb1a6a2208db4c0f75018e4}{SetForwardFrame} (const Jaus::Image $\ast$frame, const int good=1)
\begin{DoxyCompactList}\small\item\em Sets the most recent frame from the Forward Camera. \item\end{DoxyCompactList}\item 
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a218abdbf73afeb5aa0bba2c5c82db5f7}{SetForwardFrame} (const \hyperlink{class_cv_image_capture_1_1_image}{CvImageCapture::Image} \&frame, const int good=1)
\begin{DoxyCompactList}\small\item\em Sets the most recent frame from the Forward Camera. \item\end{DoxyCompactList}\item 
bool \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a828597c4255500cdda40d0334a809e7c}{GetDigitalDeviceState} (DigitalDevice port) const 
\begin{DoxyCompactList}\small\item\em Gets the state of the digital device specified by port. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_adc8a9c8d83b6085765107d83d88b1e35}{GetAnalogDeviceState} (AnalogDevice port, double \&value) const 
\begin{DoxyCompactList}\small\item\em Gets the output of the analog device specified by port. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_ac883ae3119789608cfb5bb946475f640}{GetDepth} (double \&value) const 
\begin{DoxyCompactList}\small\item\em Gets the depth in meters. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a523e280e6bd911576af0d0eb48d77b73}{GetElectronicsBatteryPercent} (double \&value) const 
\begin{DoxyCompactList}\small\item\em Gets the percentage battery for electronics. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a56daf39867998bbb7363f451ab1c9c7a}{GetMotorsBatteryPercent} (double \&value) const 
\begin{DoxyCompactList}\small\item\em Gets the percentage battery for motors. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a5fca3532ed748d5c1ef25637d4dc3fb3}{GetTempLogicCelsius} (double \&value) const 
\begin{DoxyCompactList}\small\item\em Gets temperature near logic boards. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_aff98617d673b779f38c85e111cf55d63}{GetTempPowerCelsius} (double \&value) const 
\begin{DoxyCompactList}\small\item\em Gets temperature near power supplies. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a12614de0a4b4b26500e9abc42b17f423}{
int {\bfseries GetYaw} (double \&value) const }
\label{class_zebulon_1_1_underwater_1_1_global_info_a12614de0a4b4b26500e9abc42b17f423}

\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a8dc45134e633397f8a1f1234edbfb97b}{
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a8dc45134e633397f8a1f1234edbfb97b}{PrintStatus} () const }
\label{class_zebulon_1_1_underwater_1_1_global_info_a8dc45134e633397f8a1f1234edbfb97b}

\begin{DoxyCompactList}\small\item\em Prints select data from this class to console. \item\end{DoxyCompactList}\item 
std::string \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a4ccb96549dd2b53b9b610b167f88ecf7}{GetLogData} () const 
\begin{DoxyCompactList}\small\item\em Returns all data in comma delimited format for logging, on first call will return data with a header so you know what data is what. \item\end{DoxyCompactList}\item 
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_af33dcb95eb4ba844868bc31eafab1a3d}{SetStartHeading} (double heading, int good=1)
\begin{DoxyCompactList}\small\item\em Sets initial heading. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a67a852a6ad0303603892630d6ac6bced}{GetStartHeading} (double \&heading) const 
\begin{DoxyCompactList}\small\item\em Gets initial heading. \item\end{DoxyCompactList}\item 
void \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a949f2a3ae001fd64d701f85f7c435ee2}{SetPingerPosition} (double heading, double distance, int good=1)
\begin{DoxyCompactList}\small\item\em Sets pinger heading and distance. \item\end{DoxyCompactList}\item 
int \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a78611b3685e7602e4ccebd496a63daae}{GetPingerPosition} (double \&heading, double \&distance) const 
\begin{DoxyCompactList}\small\item\em Gets pinger heading and distance. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a3b76f973b330639a1b69feeb1c8e60df}{
void {\bfseries SetRunning} (int running, int good=1)}
\label{class_zebulon_1_1_underwater_1_1_global_info_a3b76f973b330639a1b69feeb1c8e60df}

\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_ad25827be9bf02d6e44ab095680b354fc}{
int {\bfseries GetRunning} (int \&running) const }
\label{class_zebulon_1_1_underwater_1_1_global_info_ad25827be9bf02d6e44ab095680b354fc}

\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a95937ce194db359517b5fc72092b5e8b}{
void {\bfseries SetLCDOutput} (std::string text)}
\label{class_zebulon_1_1_underwater_1_1_global_info_a95937ce194db359517b5fc72092b5e8b}

\item 
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a4816fec646faed22f80bebdc6bc5db4e}{
std::string {\bfseries GetLCDOutput} () const }
\label{class_zebulon_1_1_underwater_1_1_global_info_a4816fec646faed22f80bebdc6bc5db4e}

\end{DoxyCompactItemize}
\subsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
static double \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_a607739b971c407baf3f9928c7476f725}{AngleDiff} (double angleSrc, double angleDest)
\begin{DoxyCompactList}\small\item\em Calculates angle difference with compass data. \item\end{DoxyCompactList}\item 
static double \hyperlink{class_zebulon_1_1_underwater_1_1_global_info_aece482f83c7453ae6f227930c7b062f9}{CalcDistance} (double eastingSrc, double northingSrc, double eastingDest, double northingDest)
\begin{DoxyCompactList}\small\item\em Calculates the distance between \hyperlink{namespace_g_p_s}{GPS} points. \item\end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
Interface class for getting information from \hyperlink{class_zebulon_1_1_underwater_1_1_global_pose_sensor}{GlobalPoseSensor}. 

\subsection{Member Function Documentation}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a607739b971c407baf3f9928c7476f725}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!AngleDiff@{AngleDiff}}
\index{AngleDiff@{AngleDiff}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{AngleDiff}]{\setlength{\rightskip}{0pt plus 5cm}double GlobalInfo::AngleDiff (double {\em angleSrc}, \/  double {\em angleDest})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a607739b971c407baf3f9928c7476f725}


Calculates angle difference with compass data. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em angleSrc}]source angle. \item[\mbox{$\leftarrow$} {\em angleDest}]destination angle.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Returns difference. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_aece482f83c7453ae6f227930c7b062f9}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!CalcDistance@{CalcDistance}}
\index{CalcDistance@{CalcDistance}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{CalcDistance}]{\setlength{\rightskip}{0pt plus 5cm}double GlobalInfo::CalcDistance (double {\em eastingSrc}, \/  double {\em northingSrc}, \/  double {\em eastingDest}, \/  double {\em northingDest})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{class_zebulon_1_1_underwater_1_1_global_info_aece482f83c7453ae6f227930c7b062f9}


Calculates the distance between \hyperlink{namespace_g_p_s}{GPS} points. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em eastingSrc}]source easting. \item[\mbox{$\leftarrow$} {\em northingSrc}]source easting. \item[\mbox{$\leftarrow$} {\em eastingDest}]destination easting. \item[\mbox{$\leftarrow$} {\em northingDest}]destination easting.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Returns distance. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a241186b76424a7d54d999548a91f488d}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!CreateEventSubscriptions@{CreateEventSubscriptions}}
\index{CreateEventSubscriptions@{CreateEventSubscriptions}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{CreateEventSubscriptions}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::CreateEventSubscriptions ()}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a241186b76424a7d54d999548a91f488d}


Initializes event and gets information from other sensors on the vehicle. \begin{DoxyReturn}{Returns}
True on success, False on failure. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_adc8a9c8d83b6085765107d83d88b1e35}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetAnalogDeviceState@{GetAnalogDeviceState}}
\index{GetAnalogDeviceState@{GetAnalogDeviceState}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetAnalogDeviceState}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetAnalogDeviceState (AnalogDevice {\em port}, \/  double \& {\em value}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_adc8a9c8d83b6085765107d83d88b1e35}


Gets the output of the analog device specified by port. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em Enumeration}]of analog device ports found in \hyperlink{underwater_8h}{underwater.h} \item[\mbox{$\rightarrow$} {\em value}]the device is currently outputting \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_ac883ae3119789608cfb5bb946475f640}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetDepth@{GetDepth}}
\index{GetDepth@{GetDepth}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetDepth}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetDepth (double \& {\em value}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_ac883ae3119789608cfb5bb946475f640}


Gets the depth in meters. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em depth}]in meters. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a828597c4255500cdda40d0334a809e7c}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetDigitalDeviceState@{GetDigitalDeviceState}}
\index{GetDigitalDeviceState@{GetDigitalDeviceState}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetDigitalDeviceState}]{\setlength{\rightskip}{0pt plus 5cm}bool GlobalInfo::GetDigitalDeviceState (DigitalDevice {\em port}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a828597c4255500cdda40d0334a809e7c}


Gets the state of the digital device specified by port. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em Enumeration}]of digital device ports found in \hyperlink{underwater_8h}{underwater.h}\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Returns state of the device, false = off, true = on. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_ae0ea3dbacd10696b62e41bdf8be59bc6}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetDownwardFrame@{GetDownwardFrame}}
\index{GetDownwardFrame@{GetDownwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetDownwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetDownwardFrame ({\bf CvImageCapture::Image} $\ast$\& {\em frame}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_ae0ea3dbacd10696b62e41bdf8be59bc6}


Gets a frame from the Downward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em Image}]\hyperlink{class_frame}{Frame} \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_acd2fd681dd9d211edf0339d2d858d178}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetDownwardFrame@{GetDownwardFrame}}
\index{GetDownwardFrame@{GetDownwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetDownwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetDownwardFrame (IplImage $\ast$\& {\em frame}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_acd2fd681dd9d211edf0339d2d858d178}


Gets a frame from the Downward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em Image}]\hyperlink{class_frame}{Frame} \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a523e280e6bd911576af0d0eb48d77b73}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetElectronicsBatteryPercent@{GetElectronicsBatteryPercent}}
\index{GetElectronicsBatteryPercent@{GetElectronicsBatteryPercent}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetElectronicsBatteryPercent}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetElectronicsBatteryPercent (double \& {\em value}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a523e280e6bd911576af0d0eb48d77b73}


Gets the percentage battery for electronics. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em percent}]battery remaining. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_aefeee8e4d4e07a3b094f3a45fb680061}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetForwardFrame@{GetForwardFrame}}
\index{GetForwardFrame@{GetForwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetForwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetForwardFrame ({\bf CvImageCapture::Image} $\ast$\& {\em frame}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_aefeee8e4d4e07a3b094f3a45fb680061}


Gets a frame from the Downward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em Image}]\hyperlink{class_frame}{Frame} \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_add53ad6ad29a9fc3ed3534f5f6c953f7}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetForwardFrame@{GetForwardFrame}}
\index{GetForwardFrame@{GetForwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetForwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetForwardFrame (IplImage $\ast$\& {\em frame}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_add53ad6ad29a9fc3ed3534f5f6c953f7}


Gets a frame from the Forward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em Image}]\hyperlink{class_frame}{Frame} \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a4ccb96549dd2b53b9b610b167f88ecf7}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetLogData@{GetLogData}}
\index{GetLogData@{GetLogData}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetLogData}]{\setlength{\rightskip}{0pt plus 5cm}std::string GlobalInfo::GetLogData () const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a4ccb96549dd2b53b9b610b167f88ecf7}


Returns all data in comma delimited format for logging, on first call will return data with a header so you know what data is what. \begin{DoxyReturn}{Returns}
string in comma seperated format of all loggable data. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a56daf39867998bbb7363f451ab1c9c7a}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetMotorsBatteryPercent@{GetMotorsBatteryPercent}}
\index{GetMotorsBatteryPercent@{GetMotorsBatteryPercent}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetMotorsBatteryPercent}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetMotorsBatteryPercent (double \& {\em value}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a56daf39867998bbb7363f451ab1c9c7a}


Gets the percentage battery for motors. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em percent}]battery remaining. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a3f2e23fb2be079401d02cbbbf3cabffa}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetOrientation@{GetOrientation}}
\index{GetOrientation@{GetOrientation}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetOrientation}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetOrientation (CxUtils::Point3D \& {\em orientation}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a3f2e23fb2be079401d02cbbbf3cabffa}


Sets position compass angles in radians. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em orientation}]in radians \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a78611b3685e7602e4ccebd496a63daae}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetPingerPosition@{GetPingerPosition}}
\index{GetPingerPosition@{GetPingerPosition}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetPingerPosition}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetPingerPosition (double \& {\em heading}, \/  double \& {\em distance}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a78611b3685e7602e4ccebd496a63daae}


Gets pinger heading and distance. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em heading,distance}]\end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a67a852a6ad0303603892630d6ac6bced}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetStartHeading@{GetStartHeading}}
\index{GetStartHeading@{GetStartHeading}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetStartHeading}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetStartHeading (double \& {\em heading}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a67a852a6ad0303603892630d6ac6bced}


Gets initial heading. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em heading}]\end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a5fca3532ed748d5c1ef25637d4dc3fb3}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetTempLogicCelsius@{GetTempLogicCelsius}}
\index{GetTempLogicCelsius@{GetTempLogicCelsius}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetTempLogicCelsius}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetTempLogicCelsius (double \& {\em value}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a5fca3532ed748d5c1ef25637d4dc3fb3}


Gets temperature near logic boards. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em temperature}]in celsius. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_aff98617d673b779f38c85e111cf55d63}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!GetTempPowerCelsius@{GetTempPowerCelsius}}
\index{GetTempPowerCelsius@{GetTempPowerCelsius}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{GetTempPowerCelsius}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::GetTempPowerCelsius (double \& {\em value}) const}}
\label{class_zebulon_1_1_underwater_1_1_global_info_aff98617d673b779f38c85e111cf55d63}


Gets temperature near power supplies. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\rightarrow$} {\em temperature}]in celsius. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a636df9bd319cc0bfe104ea926e7feba0}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!ProcessDiscoveryEvent@{ProcessDiscoveryEvent}}
\index{ProcessDiscoveryEvent@{ProcessDiscoveryEvent}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{ProcessDiscoveryEvent}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::ProcessDiscoveryEvent (const Jaus::Platform \& {\em subsystem}, \/  const Jaus::SubscriberComponent::DiscoveryEvents {\em eventType})\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a636df9bd319cc0bfe104ea926e7feba0}


Initializes event and gets information from GlobalPose, in this case just Compass data. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em subsystem}]\item[\mbox{$\leftarrow$} {\em eventType}]\end{DoxyParams}
\begin{DoxyReturn}{Returns}
True on success, False on failure. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a553ea5a0c51e97bc519094e03a006c97}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!ProcessInformMessage@{ProcessInformMessage}}
\index{ProcessInformMessage@{ProcessInformMessage}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{ProcessInformMessage}]{\setlength{\rightskip}{0pt plus 5cm}int GlobalInfo::ProcessInformMessage (const Jaus::Message $\ast$ {\em msg})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a553ea5a0c51e97bc519094e03a006c97}


Processes inform messages. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em msg}]\hyperlink{namespace_message}{Message} to be processed.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Returns JAUS\_\-OK. 
\end{DoxyReturn}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_ae7dad99111e0820e434a14d0d52eab11}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!SetDownwardFrame@{SetDownwardFrame}}
\index{SetDownwardFrame@{SetDownwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{SetDownwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}void GlobalInfo::SetDownwardFrame (const {\bf CvImageCapture::Image} \& {\em frame}, \/  const int {\em good} = {\ttfamily 1})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_ae7dad99111e0820e434a14d0d52eab11}


Sets the most recent frame from the Downward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em Image}]\hyperlink{class_frame}{Frame}. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a9d9ab2874c0c89b59f42da2409dda74d}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!SetDownwardFrame@{SetDownwardFrame}}
\index{SetDownwardFrame@{SetDownwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{SetDownwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}void GlobalInfo::SetDownwardFrame (const Jaus::Image $\ast$ {\em frame}, \/  const int {\em good} = {\ttfamily 1})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a9d9ab2874c0c89b59f42da2409dda74d}


Sets the most recent frame from the Downward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em Jaus}]Image \hyperlink{class_frame}{Frame}. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_aab74e321784986b4d695913c11cabaa7}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!SetDownwardFrame@{SetDownwardFrame}}
\index{SetDownwardFrame@{SetDownwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{SetDownwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}void GlobalInfo::SetDownwardFrame (const IplImage $\ast$ {\em frame}, \/  const int {\em good} = {\ttfamily 1})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_aab74e321784986b4d695913c11cabaa7}


Sets the most recent frame from the Downward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em IPL}]Image \hyperlink{class_frame}{Frame}. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a218abdbf73afeb5aa0bba2c5c82db5f7}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!SetForwardFrame@{SetForwardFrame}}
\index{SetForwardFrame@{SetForwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{SetForwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}void GlobalInfo::SetForwardFrame (const {\bf CvImageCapture::Image} \& {\em frame}, \/  const int {\em good} = {\ttfamily 1})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a218abdbf73afeb5aa0bba2c5c82db5f7}


Sets the most recent frame from the Forward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em Image}]\hyperlink{class_frame}{Frame}. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a694c6764bdb1a6a2208db4c0f75018e4}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!SetForwardFrame@{SetForwardFrame}}
\index{SetForwardFrame@{SetForwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{SetForwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}void GlobalInfo::SetForwardFrame (const Jaus::Image $\ast$ {\em frame}, \/  const int {\em good} = {\ttfamily 1})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a694c6764bdb1a6a2208db4c0f75018e4}


Sets the most recent frame from the Forward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em Jaus}]Image \hyperlink{class_frame}{Frame}. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_abf48dd5f8a5cf0b1d094a888d58a297d}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!SetForwardFrame@{SetForwardFrame}}
\index{SetForwardFrame@{SetForwardFrame}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{SetForwardFrame}]{\setlength{\rightskip}{0pt plus 5cm}void GlobalInfo::SetForwardFrame (const IplImage $\ast$ {\em frame}, \/  const int {\em good} = {\ttfamily 1})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_abf48dd5f8a5cf0b1d094a888d58a297d}


Sets the most recent frame from the Forward Camera. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em IPL}]Image \hyperlink{class_frame}{Frame}. \end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_a949f2a3ae001fd64d701f85f7c435ee2}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!SetPingerPosition@{SetPingerPosition}}
\index{SetPingerPosition@{SetPingerPosition}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{SetPingerPosition}]{\setlength{\rightskip}{0pt plus 5cm}void GlobalInfo::SetPingerPosition (double {\em heading}, \/  double {\em distance}, \/  int {\em good} = {\ttfamily 1})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_a949f2a3ae001fd64d701f85f7c435ee2}


Sets pinger heading and distance. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em heading,distance,good}]\end{DoxyParams}
\hypertarget{class_zebulon_1_1_underwater_1_1_global_info_af33dcb95eb4ba844868bc31eafab1a3d}{
\index{Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}!SetStartHeading@{SetStartHeading}}
\index{SetStartHeading@{SetStartHeading}!Zebulon::Underwater::GlobalInfo@{Zebulon::Underwater::GlobalInfo}}
\subsubsection[{SetStartHeading}]{\setlength{\rightskip}{0pt plus 5cm}void GlobalInfo::SetStartHeading (double {\em heading}, \/  int {\em good} = {\ttfamily 1})}}
\label{class_zebulon_1_1_underwater_1_1_global_info_af33dcb95eb4ba844868bc31eafab1a3d}


Sets initial heading. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em heading}]\end{DoxyParams}


The documentation for this class was generated from the following files:\begin{DoxyCompactItemize}
\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/underwater/include/underwater/globalinfo.h\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/underwater/src/underwater/globalinfo.cpp\end{DoxyCompactItemize}
